Intelligent planting integrated workstation for haloxylon ammodendron

Abstract

The utility model belongs to the technical field of planting equipment, and relates to a haloxylon ammodendron intelligent planting integrated workstation which comprises a supply bin, a plurality of automatic planting vehicles and a plurality of irrigation vehicles are parked in the supply bin, a plurality of standby seedling storage barrels and standby water tanks are arranged in the supply bin, and a plurality of charging piles are further installed in the supply bin. The charging pile is used for charging the automatic planting vehicle and the irrigation vehicle, a first solar panel is arranged at the top of the supply bin and used for supplying power to the charging pile, a sapling storage assembly used for storing haloxylon ammodendron saplings is fixedly installed on the automatic planting vehicle, and the two sides of the sapling storage assembly are each provided with an earth cutting system. Soil covering systems are arranged in front of and behind the soil cutting system, and an irrigation system, an irrigation vehicle control sensing system and an irrigation vehicle energy storage system are fixedly mounted on the irrigation vehicle. The supply bin integrates solar energy storage, water supply for the watering vehicle and cultivation of the haloxylon ammodendron saplings, the automatic planting vehicle and the irrigation vehicle work cooperatively, and the planting efficiency and the survival rate of the haloxylon ammodendron saplings are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of planting equipment technology, specifically relating to an intelligent integrated workstation for planting Haloxylon ammodendron trees. Background Technology

[0002] With the increasing impact of global climate change and human activities, desertification has become a major factor restricting sustainable development. Desertification not only reduces usable land resources but also exacerbates the frequency of sandstorms, severely hindering agricultural production and the improvement of people's living standards. Therefore, effectively preventing and controlling desertification and restoring and protecting the ecological environment has become an urgent task.

[0003] As a typical xerophytic shrub, the Haloxylon ammodendron's tenacious vitality and unique physiological characteristics make it a preferred species for windbreak and sand fixation. For a long time, planting Haloxylon ammodendron in desert greening has relied on labor-intensive traditional methods, which not only consume enormous human resources but are also inefficient. The processes of manually digging, transporting seedlings, and irrigating are complex and time-consuming, especially under extreme weather conditions, making it difficult to guarantee the safety and health of workers. This inefficient manual planting model can no longer meet the higher demands of modern society for desertification control. Summary of the Invention

[0004] The purpose of this utility model is to provide an integrated intelligent planting workstation for Haloxylon ammodendron trees that integrates automatic planting, intelligent irrigation, and all-round supply.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a smart integrated workstation for planting Haloxylon ammodendron trees, including a supply compartment, which is used to park several automatic planting vehicles and several irrigation vehicles. The supply compartment is equipped with multiple spare seedling storage tanks and spare water tanks. The spare seedling storage tanks are used to supply the automatic planting vehicles, and the spare water tanks are used to supply the irrigation vehicles. Several charging piles are also installed in the supply compartment, which are used to charge the automatic planting vehicles and irrigation vehicles. A first solar panel is installed on the top of the supply compartment, which is used to supply power to the charging piles. Cameras are installed at the corners of the top of the supply compartment to monitor the surrounding environment. The supply compartment is also equipped with a hydraulic repair machine for repairing the automatic planting vehicles and irrigation vehicles.

[0006] The automated planting vehicle includes a planting vehicle body equipped with a shock absorption system. A seedling storage assembly for storing Haloxylon ammodendron seedlings is fixedly installed on the planting vehicle body. A digging system is installed on each side of the planting vehicle body, used to excavate suitable pits for planting Haloxylon ammodendron seedlings at predetermined locations. Each digging system has a seedling delivery system on one side, used to remove Haloxylon ammodendron seedlings from the seedling storage assembly and place them into the excavated pits. A soil covering system is located at the front and rear of each digging system, used to cover the roots of the Haloxylon ammodendron seedlings in the pits with the soil excavated by the digging system. The planting vehicle body also has a planting vehicle energy storage system for providing energy and a planting vehicle control sensor system for navigation, obstacle avoidance, and drive control, all of which are connected to the planting vehicle energy storage system and the planting vehicle control sensor system.

[0007] Furthermore, the seedling storage assembly includes a seedling storage box installed on the body of the planting vehicle. The top of the seedling storage box is equipped with a semi-open box cover. Multiple seedling storage holes are evenly distributed inside the seedling storage box. A disc motor is installed at the bottom of the seedling storage box. A rotating shaft is longitudinally located at the center of the seedling storage box. The bottom of the rotating shaft is connected to the disc motor, and the top of the rotating shaft is fixedly connected to the box cover. The disc motor drives the box cover to rotate through the rotating shaft. A gravity sensor is also installed inside the seedling storage box to monitor the number of Haloxylon ammodendron seedlings in real time.

[0008] Furthermore, the digging system includes a digging drive motor and a ball screw assembly. The output end of the digging drive motor is longitudinally fixedly connected to a drill bit for drilling soil. The digging drive motor is fixedly installed on a motor mounting bracket. The ball screw assembly is longitudinally installed on the body of the planting vehicle. The motor mounting bracket is threaded to the screw of the ball screw assembly. The ball screw assembly drives the digging drive motor and the drill bit to rise and fall. The digging drive motor drives the drill bit to drill downwards.

[0009] Furthermore, the seedling delivery system includes a seedling delivery drive motor and an electric mechanical arm connected to the seedling delivery drive motor. The end of the electric mechanical arm is equipped with a gripper, which is used to grab Haloxylon ammodendron seedlings from the seedling storage assembly and place them into the pits drilled by the digging system. A flexible buffer pad is installed on the gripper.

[0010] Furthermore, the soil covering system includes two soil covering push plates symmetrically arranged on the front and rear sides of the drill bit. Each soil covering push plate is fixedly connected to a transverse sliding rod via a second connecting rod. The transverse sliding rod is laterally movably connected within a transverse sliding groove. A transverse lead screw is provided within the transverse sliding groove. One end of the transverse lead screw is connected to a transverse motor. The transverse sliding rod is threaded onto the transverse lead screw. The transverse motor drives the transverse lead screw to rotate, thereby driving the transverse sliding rod and the soil covering push plate to move laterally. A first connecting rod is connected to the transverse sliding groove. The other end of the first connecting rod is fixedly connected to a linear slider. The linear slider cooperates with a linear slide rail. A soil covering lifting motor is fixedly connected to the linear slider. The soil covering lifting motor drives the linear slider to move up and down along the linear slide rail, thereby driving the soil covering push plate to move up and down.

[0011] Furthermore, the energy storage system of the planting vehicle includes a second solar panel and a battery compartment fixedly installed on the body of the planting vehicle. The battery compartment contains solar cells. A fixed bracket is also installed on the body of the planting vehicle. The second solar panel is hinged to the fixed bracket via a pin. An electric push rod is also installed between the fixed bracket and the second solar panel. The electric push rod is used to adjust the tilt angle of the second solar panel. A light sensor is fixedly installed at the bottom of the second solar panel.

[0012] Furthermore, the planter control sensing system includes a control component installed on the top of the battery compartment, and a vision sensor, a GPS positioning system, a laser sensor, and an infrared sensor installed on the planter body. The vision sensor, GPS positioning system, laser sensor, and infrared sensor are all electrically connected to the control component. The GPS positioning system is used for navigation, and the vision sensor, laser sensor, and infrared sensor are used for sensing and identifying the environment. The control component is an Arduino controller.

[0013] Furthermore, the irrigation vehicle includes an irrigation vehicle body equipped with a shock absorption system. An irrigation system, an irrigation vehicle control and sensing system, and an irrigation vehicle energy storage system are fixedly installed on the irrigation vehicle body. The irrigation vehicle energy storage system is used to provide energy for the irrigation vehicle body, the irrigation system, and the irrigation vehicle control and sensing system. The irrigation vehicle control and sensing system is used to control the movement of the irrigation vehicle body and the irrigation operation of the irrigation system.

[0014] Furthermore, the irrigation system includes a water tank, a water pump, a water tank mounting bracket, and a sprinkler system. The water tank mounting bracket is fixedly installed on the body of the irrigation vehicle, and the water tank is detachably installed on the water tank mounting bracket. The water outlet of the water tank is connected to the water inlet of the water pump through a water tank connecting pipe, and the water outlet of the water pump is connected to the sprinkler system through a water pump outlet pipe. Two sprinkler systems are provided, located on both sides of the irrigation vehicle body.

[0015] Furthermore, the irrigation vehicle's energy storage system includes solar cells, and the irrigation vehicle's control and sensing system includes a servo motor and sensor components installed on the irrigation vehicle's body. The servo motor is connected to an Arduino controller, and a valve is installed on the spray device. The valve is electrically connected to the servo motor. The sensor components include, but are not limited to, vision sensors, GPS positioning systems, laser sensors, and infrared sensors, used to perceive and identify the environment, navigate and avoid obstacles, and plan paths. The shock absorption systems on both the planting vehicle body and the irrigation vehicle body are shock-absorbing springs.

[0016] This utility model has the following beneficial effects: The intelligent integrated planting workstation for Haloxylon ammodendron trees consists of a supply bin, an automatic planting vehicle, and an irrigation vehicle, realizing the automation and intelligence of Haloxylon ammodendron tree planting. The supply bin integrates solar energy storage, water supply for the irrigation vehicle, and cultivation of Haloxylon ammodendron seedlings, providing energy, water, and seedling support for the planting work. The automatic planting vehicle has functions such as digging holes, delivering seedlings, planting, and covering with soil. It adopts advanced navigation technology, automatically avoids obstacles, accurately locates planting points, and efficiently plants seedlings. The irrigation vehicle can provide watering as needed around the clock, ensuring the healthy growth of seedlings. The automatic planting vehicle and the irrigation vehicle work together to significantly improve the planting efficiency and survival rate of Haloxylon ammodendron seedlings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the intelligent planting integrated workstation for Haloxylon ammodendron trees according to this utility model.

[0018] Figure 2 This is a schematic diagram of the internal structure of the intelligent planting integrated workstation for Haloxylon ammodendron trees according to this utility model.

[0019] Figure 3 This is a rear view of the automatic planting vehicle of this utility model.

[0020] Figure 4 This is a top view of the automatic planting vehicle of this utility model.

[0021] Figure 5 This is a left view of the automatic planting vehicle of this utility model.

[0022] Figure 6 yes Figure 5 Enlarged view of the local structure at point A in the middle.

[0023] Figure 7 This is a three-dimensional structural diagram of the automatic planting vehicle of this utility model.

[0024] Figure 8 yes Figure 7 Enlarged view of the local structure at point B in the middle.

[0025] Figure 9 This is the front view of the irrigation vehicle of this utility model.

[0026] Figure 10 This is a right view of the irrigation vehicle of this utility model.

[0027] Figure 11 This is a three-dimensional structural diagram of the irrigation vehicle of this utility model.

[0028] In the picture, 1. Supply bin, 2. Automated planting vehicle, 3. Irrigation vehicle, 4. Charging station, 5. Spare seedling storage bucket, 6. Spare water tank, 7. First solar panel, 8. Camera, 9. Hydraulic repair machine;

[0029] 21. Planting vehicle body; 22. Shock absorption system; 23. Seedling storage assembly; 24. Soil excavation system; 25. Seedling delivery system; 26. Soil covering system; 27. Planting vehicle energy storage system; 28. Planting vehicle control and sensing system.

[0030] 221. Shock-absorbing springs;

[0031] 231. Seedling storage box; 232. Seedling storage holes; 233. Disc motor; 234. Box cover; 235. Rotating shaft;

[0032] 241. Excavation drive motor; 242. Lead screw; 243. Drill bit; 244. Motor mounting bracket; 245. Ball screw pair;

[0033] 251. Electric robotic arm; 252. Gripper; 253. Flexible buffer pad; 254. Seedling delivery drive motor.

[0034] 261. Soil covering lifting motor; 262. Linear slider; 263. Linear slide rail; 264. Soil covering push plate; 265. First connecting rod; 266. Lateral sliding groove; 267. Lateral sliding rod; 268. Second connecting rod.

[0035] 271. Solar cell; 272. Battery compartment; 273. Second solar panel; 274. Electric actuator; 275. Light sensor; 276. Fixing bracket; 277. Pin.

[0036] 281. Vision sensor; 282. Control components;

[0037] 31. Irrigation vehicle body; 32. Irrigation system; 33. Irrigation vehicle control and sensing system; 34. Irrigation vehicle energy storage system.

[0038] 321. Water tank; 322. Water pump outlet pipe; 323. Sprinkler device; 324. Water tank connecting pipe; 325. Water pump; 326. Water tank mounting bracket.

[0039] 331. Servo motor; 332. Sensor assembly. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings.

[0041] like Figure 1 , Figure 2 As shown, a smart planting integrated workstation for Haloxylon ammodendron includes a supply compartment 1, which is used to park several automatic planting vehicles 2 and several irrigation vehicles 3. The supply compartment 1 is equipped with multiple spare seedling storage tanks 5 and spare water tanks 6. The spare seedling storage tanks 5 are used to supply the automatic planting vehicles 2, and the spare water tanks 6 are used to supply the irrigation vehicles 3. The supply compartment 1 is also equipped with several charging piles 4, which are used to charge the automatic planting vehicles 2 and irrigation vehicles 3. The top of the supply compartment 1 is equipped with a first solar panel 7, which is used to supply power to the charging piles. Cameras 8 are respectively installed at the corners of the top of the supply compartment 1 to monitor the surrounding environment of the supply compartment 1. The supply compartment 1 is also equipped with a hydraulic repair machine 9 for repairing the automatic planting vehicles 2 and irrigation vehicles 3.

[0042] The automatic planting vehicle 2 realizes the process of automatically planting Haloxylon ammodendron trees by drilling soil, delivering seedlings, and covering soil. The irrigation vehicle 3 can either cooperate with the automatic planting vehicle 2 to complete the irrigation process when planting seedlings or complete the irrigation task independently. The supply compartment 1 provides parking spaces for the automatic planting vehicle 2 and the irrigation vehicle 3, and realizes the functions of charging, replanting seedlings, and replenishing water.

[0043] The automatic planting vehicle 2, irrigation vehicle 3, and supply bin 1 are wirelessly connected and can also interface with the operator's host computer to achieve remote control and reduce manpower consumption.

[0044] like Figures 3-8 As shown, the automatic planting vehicle 2 includes a planting vehicle body 21, a shock absorption system 22 on the planting vehicle body 21, and a seedling storage assembly 23 for storing Haloxylon ammodendron seedlings fixedly installed on the planting vehicle body 21. A digging system 24 is installed on each side of the planting vehicle body 21 on both sides of the seedling storage assembly 23. The digging system 24 is used to dig pits suitable for planting Haloxylon ammodendron seedlings at predetermined locations. A seedling delivery system 25 is provided on one side of each digging system, used to remove Haloxylon ammodendron seedlings from the seedling storage assembly 23 and place them into the dug pits. Inside the pit, each digging system 24 is equipped with a soil covering system 26 at the front and rear. The soil covering system 26 is used to cover the roots of the saxaul seedlings in the pit with the soil excavated by the digging system 24. The planting vehicle body 21 is also fixedly installed with a planting vehicle energy storage system 27 for providing energy and a planting vehicle control sensor system 28 for navigation, obstacle avoidance and control drive. The planting vehicle body 21, seedling storage assembly 23, digging system 24, seedling delivery system 25 and soil covering system 26 are all connected to the planting vehicle energy storage system 27 and the planting vehicle control sensor system 28.

[0045] The seedling storage assembly 23 includes a seedling storage box 231 detachably mounted on the planting vehicle body 21. The top of the seedling storage box 231 has a semi-open lid 234. Multiple seedling storage holes 232 are evenly distributed inside the seedling storage box 231. A disc motor 233 is installed at the bottom of the seedling storage box 231. A rotating shaft 235 is longitudinally positioned at the center of the seedling storage box 231. The bottom of the rotating shaft 235 is connected to the disc motor 233, and the top of the rotating shaft 235 is fixedly connected to the lid 234. The disc motor 233 drives the lid 234 to rotate via the rotating shaft 235. A gravity sensor is also installed inside the seedling storage box 231 to monitor the number of Haloxylon ammodendron seedlings in real time. When the number of seedlings in the seedling storage box 231 falls below a preset threshold, the automatic planting vehicle 2 returns to the replenishment chamber 1 to replace it with a new seedling storage box 231 containing Haloxylon ammodendron seedlings, saving time and improving work efficiency.

[0046] The design of the seedling storage box 231 takes into full account the convenience of seedling storage and transportation. It is designed with 120 seedling storage holes. This capacity setting allows the machine to operate continuously for a long time, reduces the number of times seedlings need to be replenished, and improves the overall operating efficiency.

[0047] The excavation system 24 includes an excavation drive motor 241 and a ball screw assembly 245. A drill bit 243 for drilling is longitudinally fixedly connected to the output end of the excavation drive motor 241. The excavation drive motor 241 is fixedly mounted on a motor mounting bracket 244. The ball screw assembly 245 is longitudinally mounted on the planting vehicle body 21. The motor mounting bracket 244 is threaded to the lead screw 242 of the ball screw assembly 245. The ball screw assembly 245 drives the excavation drive motor 241 and the drill bit 243 to move up and down. The excavation drive motor 241 drives the drill bit 243 to drill downwards. The drill bit 243 is a spiral drill bit, and two sets of drill bits 243 operate simultaneously, improving work efficiency. The ball screw assembly 245 enables vertical movement of the drill bit, allowing for precise depth control, moderate feed speed, and self-locking characteristics, providing good robustness and enabling it to handle complex working conditions.

[0048] Planting of Haloxylon ammodendron requires deep planting to ensure the roots can fully extend and remain within the moist sand layer. Since root growth exceeds the rate of sand descent, a planting depth of at least 30 cm is essential. Therefore, the drill bit diameter is set at 22 mm and the total length at 565 mm to ensure effective penetration and stable planting pit formation under various soil conditions. The excavation drive motor 241 employs a high-performance, high-torque DC motor with adjustable speed from 0 to 1000 RPM, allowing the drill bit to perform exceptionally well in both hard and sandy soils, meeting the drilling needs of different geological conditions.

[0049] The vertical displacement of the drill bit is achieved jointly by the digging drive motor 241 and the ball screw pair 245. This combined design not only ensures the smoothness and accuracy of drill bit lifting and lowering, but also effectively reduces the noise level during system operation. The DC motor has a fast response speed and can quickly adjust the position of the drill bit; while the ball screw pair 245 provides sufficient force to support the vertical movement of the drill bit 243, ensuring its stability during the drilling process.

[0050] The seedling delivery system 25 includes a seedling delivery drive motor 254 and an electric robotic arm 251 connected to the drive motor 254. The end of the electric robotic arm 251 is equipped with a gripper 252, which is used to grab Haloxylon ammodendron seedlings from the seedling storage assembly 23 and place them into the pits drilled by the excavation system 24. A flexible buffer pad 253 made of rubber is installed on the gripper 252. The electric robotic arm 251 utilizes existing technology, and its bottom can rotate horizontally. The electric robotic arm 251 has four degrees of freedom, enabling flexible movement in three-dimensional space to ensure precise seedling grabbing and placement. This multi-axis design allows the electric robotic arm 251 to adapt to complex terrain changes, successfully completing seedling delivery tasks even on uneven ground.

[0051] The seedling storage box 231 is equipped with a gravity sensor to monitor the number of seedlings in real time. When the number of seedlings falls below a preset threshold, the system automatically issues a replenishment reminder to ensure the continuity of planting operations. A disc motor 233 drives a semi-open box lid 234 to rotate. The semi-open box lid 234 can be rotated to a suitable position with the electric robotic arm 251. The electric robotic arm 251 precisely positions and grabs the Haloxylon ammodendron seedlings from the opening of the box lid 234, and then accurately places the seedlings into the dug holes. The seedling storage assembly 231, in conjunction with the electric robotic arm 251, efficiently completes the seedling delivery action. The design of the electric robotic arm fully considers the fragility of Haloxylon ammodendron seedlings; the front of the gripper 252 is covered with a flexible cushioning pad 253 to protect the seedlings from damage.

[0052] In a preferred embodiment of this utility model, the front and middle parts of the gripper 252 are provided with semi-circular holes of different diameters. This design can not only adapt to seedlings of different sizes, but also provide sufficient support when gripping, ensuring that the seedlings will not be damaged or fall off during movement.

[0053] The soil covering system 26 includes two soil covering push plates 264 symmetrically arranged on the front and rear sides of the drill bit 243. Each soil covering push plate 264 is fixedly connected to a transverse sliding rod 267 via a second connecting rod 268. The transverse sliding rod 267 is laterally movably connected within a transverse sliding groove 266. A transverse sliding screw is provided within the transverse sliding groove 266. One end of the transverse sliding screw is connected to a transverse motor. The transverse sliding rod 267 is threaded onto the transverse sliding screw. The transverse motor drives the transverse sliding screw to rotate, thereby causing the transverse sliding rod 267 and the soil covering push plate 264 to move laterally. A first connecting rod 265 is connected to the transverse sliding groove 266. The other end of the first connecting rod 265 is fixedly connected to a linear slider 262. The linear slider 262 cooperates with a linear slide rail 263. A soil covering lifting motor 261 is fixedly connected to the linear slider 262. The soil covering lifting motor 261 drives the linear slider 262 to move up and down along the linear slide rail 263, thereby causing the soil covering push plate 264 to move up and down. The main function of the soil covering system 26 is to quickly cover the Haloxylon ammodendron seedlings with soil after planting, ensuring that the seedlings are fixed in the sandy soil. The soil covering system 26 works closely with the excavation system 24; once the seedling is placed in the pit, the soil covering system 26 immediately activates, ensuring sufficient soil around the seedling and compacting it appropriately to guarantee its stability. The soil covering pusher 264 is semi-circular and has good soil-holding properties.

[0054] The energy storage system 27 of the planting vehicle includes a second solar panel 273 and a battery compartment 272 fixedly installed on the body 21 of the planting vehicle. A solar cell 271 is installed in the battery compartment 272. A fixed bracket 276 is also installed on the body 21 of the planting vehicle. The second solar panel 273 is hinged to the fixed bracket 276 through a pin 277. An electric push rod 274 is also installed between the fixed bracket 276 and the second solar panel 273. The electric push rod 274 is used to adjust the tilt angle of the second solar panel 273 so that it forms the optimal angle with the sunlight. A light sensor 275 is fixedly installed at the bottom of the second solar panel 273.

[0055] The planting vehicle control sensing system 28 includes a control component 282 installed on the top of the battery compartment 272, and a vision sensor 281, a GPS positioning system, a laser sensor, and an infrared sensor installed on the planting vehicle body 21. The vision sensor 281, the GPS positioning system, the laser sensor, and the infrared sensor are all electrically connected to the control component. The GPS positioning system is used for navigation and monitoring the position and movement trajectory of the automatic planting vehicle 2. The vision sensor 281, the laser sensor, and the infrared sensor are used to perceive and identify the environment, realize automatic obstacle avoidance and path planning functions, and the control component 282 is an Arduino controller.

[0056] The Arduino controller can perceive its surroundings through various sensors and, in conjunction with signals from a host computer, can provide feedback and execute actions via motors and other actuators, thereby enabling the autonomous behavior of the automated planting vehicle 2. Its communication components utilize radio remote control technology, transmitting radio signals for remote control. Once these signals are received by a remote receiving device, they can further instruct or drive various corresponding electronic devices to perform functions such as controlling the walking platform, starting or stopping digging and seedling delivery.

[0057] Upon receiving a work command, the wireless signal receiver on the Arduino controller immediately starts the planting vehicle body 21 and applies an initial speed to control its forward movement. At the same time, the vision sensor 281 receives the image signal reflected from the road and converts the signal into code, which is then transmitted to the Arduino controller. The pre-programmed program in the Arduino controller can analyze the numerical changes of the code and make judgments based on pre-set thresholds to control the rotation speed of the left and right wheels, thereby realizing the automatic steering and obstacle avoidance of the automatic planting vehicle 2.

[0058] like Figures 9-11 As shown, the irrigation vehicle 3 includes an irrigation vehicle body 31 equipped with a shock absorption system. An irrigation system 32, an irrigation vehicle control and sensing system 33, and an irrigation vehicle energy storage system 34 are fixedly installed on the irrigation vehicle body 31. The irrigation vehicle energy storage system 34 is used to provide energy for the irrigation vehicle body 31, the irrigation system 32, and the irrigation vehicle control and sensing system 33. The irrigation vehicle control and sensing system 33 is used to control the movement of the irrigation vehicle body 31 and the irrigation operation of the irrigation system 32.

[0059] The irrigation system 32 includes a water tank 321, a water pump 325, a water tank mounting bracket 326, and a sprinkler device 323. The water tank mounting bracket 326 is fixedly installed on the body 31 of the irrigation vehicle. The water tank 321 is detachably installed on the water tank mounting bracket 326. The outlet of the water tank 321 is connected to the inlet of the water pump 325 through a water tank connecting pipe 324. The outlet of the water pump 325 is connected to the sprinkler device 323 through a water pump outlet pipe 322. Two sets of sprinkler devices 323 are provided, located on both sides of the body 31 of the irrigation vehicle.

[0060] Considering the capacity and weight balance of water tank 321, the water tank is positioned near the center of the irrigation vehicle 3 to minimize its impact on the center of gravity. When the water level in water tank 321 falls below a preset threshold, the irrigation vehicle 3 returns to the replenishment chamber 1, where the water tank 321 can be directly replaced with a full one, providing rapid replenishment, saving time, improving work efficiency, and ensuring continuous operation.

[0061] The irrigation truck's energy storage system 34 includes solar cells, and the irrigation truck's control and sensing system 33 includes a servo motor 331 and sensor components 332 mounted on the irrigation truck's body 31. The servo motor 331 is connected to an Arduino controller. A valve is installed on the sprinkler device 323 to control the opening and closing of the water flow. The valve is electrically connected to the servo motor 331. The sensor components include, but are not limited to, vision sensors, GPS positioning systems, laser sensors, and infrared sensors, used to perceive and identify the environment, navigate and avoid obstacles, and plan paths. When irrigation is needed for the seedlings, the Arduino controller sends a signal to the valve to open it, allowing water to flow through the sprinkler device 323; when irrigation is complete, the valve closes, stopping the water flow.

[0062] Both the planting vehicle body 21 and the irrigation vehicle body 31 are wheel-driven, with wheel widths adapted to sandy terrain to reduce pressure and prevent sinking. The wheel surfaces are treaded to increase friction. To ensure smooth operation of the automatic planting vehicle 2 and irrigation vehicle 3, both bodies are equipped with vibration damping systems using shock-absorbing springs 221. The front and rear wheels utilize double wishbone independent suspension, with the front wheel steering angle controlled by a 4kg-class servo motor. Vibration damping is achieved using springs with a parameter of 50N / mm. The body is hexagonally hollowed out to reduce weight while maintaining strength.

[0063] After the automated planting vehicle 2 starts, its high-precision GPS positioning system first plans the optimal planting path based on preset map data and task requirements, ensuring that each sapling is planted precisely in the most suitable location. Throughout the journey, the automated planting vehicle 2's vision and laser sensors continuously scan the surrounding environment, intelligently identifying and avoiding obstacles to ensure smooth operation. Infrared sensors integrated into the vehicle allow for maintaining appropriate spacing between vehicles and can identify the corresponding locations of supply compartments.

[0064] Upon arrival at the designated planting site, the excavation system 24 on the automated planting vehicle 2 is activated, quickly and accurately creating planting pits suitable for seedling growth using a rotating drill bit 243. Next, the seedling delivery system 25 is activated, using visual recognition technology to precisely grasp the Haloxylon ammodendron seedlings via an electric robotic arm 251 and place them into the newly excavated pits. The soil covering system 26 follows immediately, with a soil covering pusher 264 applying appropriate force to fill the soil and gently compact it, ensuring the seedlings are firmly planted. The automated planting vehicle 2 then moves to the next work site and repeats the planting process.

[0065] The irrigation vehicle 3 is also guided by intelligent sensors such as vision sensors, GPS positioning system, laser sensors, and infrared sensors to the work point to be watered. The irrigation system 32 provides the necessary water to the newly planted seedlings in a timely and appropriate manner according to the preset parameters, so as to help the seedlings take root and grow better.

[0066] The entire operation process is highly automated, minimizing human intervention at every stage from positioning and planting to maintenance, significantly improving the planting speed and survival rate of Haloxylon ammodendron seedlings. Simultaneously, operators can monitor various operational indicators of the intelligent vehicle in real time through an integrated remote control platform, including but not limited to current location, working status, and fault alarms. Upon detecting any abnormalities, operators can immediately take measures to adjust or resolve the problem.

[0067] In addition, the system is equipped with an intelligent replenishment management function, which can automatically monitor the remaining amount in the seedling storage box and water tank, and return to the replenishment bin in time when it is lower than the preset threshold, so as to ensure that the automatic planting vehicle 2 and the irrigation vehicle 3 always maintain the best working condition.

[0068] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention should fall within the protection scope of the present invention.

[0069] The technologies, shapes, and structures not described in detail in this utility model are all known technologies.

Claims

1. A smart integrated workstation for planting Haloxylon ammodendron trees, characterized in that, The system includes a supply compartment, which is used to park several automatic planting vehicles and several irrigation vehicles. The supply compartment is equipped with multiple spare seedling storage tanks and spare water tanks. The spare seedling storage tanks are used to supply the automatic planting vehicles, and the spare water tanks are used to supply the irrigation vehicles. The supply compartment is also equipped with several charging piles, which are used to charge the automatic planting vehicles and irrigation vehicles. The top of the supply compartment is equipped with a first solar panel, which is used to supply power to the charging piles. Cameras are installed at the corners of the top of the supply compartment to monitor the surrounding environment. The supply compartment is also equipped with a hydraulic repair machine for repairing the automatic planting vehicles and irrigation vehicles. The automated planting vehicle includes a planting vehicle body equipped with a shock absorption system. A seedling storage assembly for storing Haloxylon ammodendron seedlings is fixedly installed on the planting vehicle body. A digging system is installed on each side of the planting vehicle body, used to excavate suitable pits for planting Haloxylon ammodendron seedlings at predetermined locations. Each digging system has a seedling delivery system on one side, used to remove Haloxylon ammodendron seedlings from the seedling storage assembly and place them into the excavated pits. A soil covering system is located at the front and rear of each digging system, used to cover the roots of the Haloxylon ammodendron seedlings in the pits with the soil excavated by the digging system. The planting vehicle body also has a planting vehicle energy storage system for providing energy and a planting vehicle control sensor system for navigation, obstacle avoidance, and drive control, all of which are connected to the planting vehicle energy storage system and the planting vehicle control sensor system.

2. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 1, characterized in that, The seedling storage assembly includes a seedling storage box installed on the body of the planting vehicle. The top of the seedling storage box is equipped with a semi-open box cover. Multiple seedling storage holes are evenly distributed inside the seedling storage box. A disc motor is installed at the bottom of the seedling storage box. A rotating shaft is longitudinally located at the center of the seedling storage box. The bottom of the rotating shaft is connected to the disc motor, and the top of the rotating shaft is fixedly connected to the box cover. The disc motor drives the box cover to rotate through the rotating shaft. A gravity sensor is also installed inside the seedling storage box to monitor the number of Haloxylon ammodendron seedlings in real time.

3. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 1, characterized in that, The digging system includes a digging drive motor and a ball screw assembly. The output end of the digging drive motor is longitudinally fixedly connected to a drill bit for drilling soil. The digging drive motor is fixedly installed on a motor mounting bracket. The ball screw assembly is longitudinally installed on the planting vehicle body. The motor mounting bracket is threaded to the lead screw of the ball screw assembly. The ball screw assembly drives the digging drive motor and the drill bit to rise and fall. The digging drive motor drives the drill bit to drill downwards.

4. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 1, characterized in that, The seedling delivery system includes a seedling delivery drive motor and an electric mechanical arm connected to the seedling delivery drive motor. The end of the electric mechanical arm is equipped with a gripper, which is used to grab Haloxylon ammodendron seedlings from the seedling storage assembly and place them into the pits drilled by the digging system. A flexible buffer pad is installed on the gripper.

5. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 3, characterized in that, The soil covering system includes two soil covering push plates symmetrically arranged on the front and rear sides of the drill bit. Each soil covering push plate is fixedly connected to a transverse sliding rod via a second connecting rod. The transverse sliding rod is laterally movably connected within a transverse sliding groove. A transverse lead screw is provided within the transverse sliding groove. One end of the transverse lead screw is connected to a transverse motor. The transverse sliding rod is threaded onto the transverse lead screw. The transverse motor drives the transverse lead screw to rotate, thereby causing the transverse sliding rod and the soil covering push plate to move laterally. A first connecting rod is connected to the transverse sliding groove. The other end of the first connecting rod is fixedly connected to a linear slider. The linear slider cooperates with a linear slide rail. A soil covering lifting motor is fixedly connected to the linear slider. The soil covering lifting motor drives the linear slider to move up and down along the linear slide rail, thereby causing the soil covering push plate to move up and down.

6. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 1, characterized in that, The energy storage system of the planting vehicle includes a second solar panel and a battery compartment fixedly installed on the body of the planting vehicle. The battery compartment contains solar cells. A fixed bracket is also installed on the body of the planting vehicle. The second solar panel is hinged to the fixed bracket by a pin. An electric push rod is also installed between the fixed bracket and the second solar panel. The electric push rod is used to adjust the tilt angle of the second solar panel. A light sensor is fixedly installed at the bottom of the second solar panel.

7. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 6, characterized in that, The planter control and sensing system includes a control component installed on the top of the battery compartment, and a vision sensor, a GPS positioning system, a laser sensor, and an infrared sensor installed on the planter body. The vision sensor, GPS positioning system, laser sensor, and infrared sensor are all electrically connected to the control component. The GPS positioning system is used for navigation, and the vision sensor, laser sensor, and infrared sensor are used for sensing and identifying the environment. The control component is an Arduino controller.

8. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 1, characterized in that, The irrigation vehicle includes an irrigation vehicle body equipped with a shock absorption system. An irrigation system, an irrigation vehicle control and sensing system, and an irrigation vehicle energy storage system are fixedly installed on the irrigation vehicle body. The irrigation vehicle energy storage system is used to provide energy for the irrigation vehicle body, the irrigation system, and the irrigation vehicle control and sensing system. The irrigation vehicle control and sensing system is used to control the movement of the irrigation vehicle body and the irrigation operation of the irrigation system.

9. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 8, characterized in that, The irrigation system includes a water tank, a water pump, a water tank mounting bracket, and a sprinkler system. The water tank mounting bracket is fixedly installed on the body of the irrigation vehicle, and the water tank is detachably installed on the water tank mounting bracket. The water outlet of the water tank is connected to the water inlet of the water pump through a water tank connecting pipe, and the water outlet of the water pump is connected to the sprinkler system through a water pump outlet pipe. Two sprinkler systems are provided, located on both sides of the irrigation vehicle body.

10. The integrated intelligent planting workstation for Haloxylon ammodendron as described in claim 8, characterized in that, The irrigation vehicle's energy storage system includes solar cells, and the irrigation vehicle's control and sensing system includes a servo motor and sensor components installed on the irrigation vehicle's body. The servo motor is connected to an Arduino controller, and the spraying device is equipped with valves that are electrically connected to the servo motor. The sensor components include, but are not limited to, vision sensors, GPS positioning systems, laser sensors, and infrared sensors, used to perceive and identify the environment, navigate and avoid obstacles, and plan paths. The shock absorption systems on both the planting vehicle and the irrigation vehicle's body are shock-absorbing springs.

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